![]() ![]() ![]() Mechanisms and Actuation (Victor Scheinman, Michael McCarthy)Ĭhap. Dynamics (Roy Featherstone, David Orin)Ĭhap. Kinematics (Ken Waldron, James Schmiedeler)Ĭhap. The topics are expanded and applied to specific robotic structures and systems in subsequent parts.Ĭhap. A chapter is devoted to each of these topics. All of the foundational topics are included in this part: kinematics, dynamics, mechanical design and actuation, sensing and estimation, motion planning, motion control, force control, robotic systems architectures and programming, and AI reasoning methods for task planning and learning. Part A presents the fundamental principles and methods that are used to model, design, and control a robotic system. Part A: Robotics Foundations (David Orin) Introduction (Bruno Siciliano, Oussama Khatib) ![]()
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